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tuning to the max

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ary 2023-12-14 10:29:29 -05:00
parent c375755f63
commit 9f144e7286
1 changed files with 3 additions and 3 deletions
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6
CLOUDS/src/superstructure.cpp
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@ -61,9 +61,9 @@ namespace superstruct
chassis.set_slew_min_power(80, 80); chassis.set_slew_min_power(80, 80);
chassis.set_slew_distance(7, 7); chassis.set_slew_distance(7, 7);
chassis.set_pid_constants(&chassis.headingPID, 16, 0, 40, 0); chassis.set_pid_constants(&chassis.headingPID, 16, 0, 40, 0);
chassis.set_pid_constants(&chassis.forward_drivePID, 1.5, 0.003, 13.5, 0); chassis.set_pid_constants(&chassis.forward_drivePID, 2.5, 0.003, 16.5, 0);
chassis.set_pid_constants(&chassis.backward_drivePID, 1.5, 0.003, 13.5, 0); chassis.set_pid_constants(&chassis.backward_drivePID, 2.5, 0.003, 16.5, 0);
chassis.set_pid_constants(&chassis.turnPID, 7, 0.002, 70, 15); chassis.set_pid_constants(&chassis.turnPID, 8.5, 0.002, 75, 15);
chassis.set_pid_constants(&chassis.swingPID, 8.5, 0, 50, 0); chassis.set_pid_constants(&chassis.swingPID, 8.5, 0, 50, 0);
} }